Localization of mobile robot using particle filter

Jeong Woo, Young Joong Kim, Jeong On Lee, Myo Taeg Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)


Localization is an important topic in mobile robots. It is essential that a mobile robot plans movement and reaches goals. In this paper, we described self-localization technique for mobile robot based on particle filtering in active beacon system. The basic method is to estimate value of position and heading of mobile robot using ultrasonic sensor as particle filter is used to eliminate process and measurement noise. Several variants of the particle filter such as SIR and RPF are introduced. These are discussed and compared with EKF for localization of mobile robot.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages4
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Localization
  • Mobile robot
  • Particle filter
  • Ultrasonic sensor

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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